cmake_minimum_required(VERSION 2.8.3)
project(crazyswarm)


# On 64-bit Linux we can enable optitrack_closed_source
if(CMAKE_HOST_SYSTEM_PROCESSOR STREQUAL x86_64 OR CMAKE_HOST_SYSTEM_PROCESSOR STREQUAL amd64)
  option(LIBMOTIONCAPTURE_ENABLE_OPTITRACK_CLOSED_SOURCE "Enable optitrack closed source" ON)
endif()
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/externalDependencies/libmotioncapture EXCLUDE_FROM_ALL)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  message_generation
  std_msgs
  tf
  crazyflie_cpp
  libobjecttracker
  tf_conversions
)

set (CMAKE_CXX_STANDARD 11)
set (CMAKE_CXX_STANDARD_REQUIRED ON)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(PCL REQUIRED)

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate services in the 'srv' folder
add_service_files(
  FILES
  GoTo.srv
  Land.srv
  NotifySetpointsStop.srv
  SetGroupMask.srv
  StartTrajectory.srv
  Stop.srv
  Takeoff.srv
  UpdateParams.srv
  UploadTrajectory.srv
)

add_message_files(
  FILES
  LogBlock.msg
  GenericLogData.msg
  FullState.msg
  VelocityWorld.msg
  TrajectoryPolynomialPiece.msg
  Hover.msg
  Position.msg
)

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
   std_msgs
   geometry_msgs
)

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES crazyflie
  CATKIN_DEPENDS
    message_runtime
    std_msgs
    tf
    crazyflie_cpp
    # libobjecttracker
#  DEPENDS system_lib
)

###########
## Build ##
###########

include_directories(
  ${catkin_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
  externalDependencies/libmotioncapture/include
  ../externalDependencies/libobjecttracker/include
  ## TODO remove this dependency
  ../../../crazyflie-firmware/src/modules/interface/
)


## Declare a cpp executable
add_executable(crazyswarm_server
  src/crazyswarm_server.cpp
)
add_dependencies(crazyswarm_server
  crazyswarm_gencpp
)
target_link_libraries(crazyswarm_server
  ${catkin_LIBRARIES}
  libmotioncapture
)

## Declare a cpp executable
add_executable(crazyswarm_teleop
  src/crazyswarm_teleop.cpp
)
add_dependencies(crazyswarm_teleop
  crazyswarm_gencpp
)
target_link_libraries(crazyswarm_teleop
  ${catkin_LIBRARIES}
)
## Declare a cpp executable
add_executable(mocap_helper
  src/mocap_helper.cpp
)

target_link_libraries(mocap_helper
  ${catkin_LIBRARIES}
  libmotioncapture
)

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS crazyswarm crazyswarm_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_crazyswarm.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
